Merge pull request #104 from strykeforce/Adding-a-Camera

Add second camera to robot

Author: mwitcpalek

build.gradle

@@ -1,6 +1,6 @@
 plugins {
     id "java"
-    id "edu.wpi.first.GradleRIO" version "2023.4.2"
+    id "edu.wpi.first.GradleRIO" version "2023.4.3"
     id "com.diffplug.spotless" version "6.12.1"
 }
 
@@ -54,6 +54,7 @@ dependencies {
 
     implementation("com.opencsv:opencsv:5.7.1")
     implementation("com.squareup.moshi:moshi:1.13.0")
+    implementation 'net.jafama:jafama:2.3.2'
     implementation 'net.consensys.cava:cava-toml:0.5.0'
 
     roborioDebug wpi.java.deps.wpilibJniDebug(wpi.platforms.roborio)

src/main/deploy/paths/pieceOneDeliverBumpCubeOneFallback.toml

@@ -0,0 +1,20 @@
+max_velocity = 3.0 #m/s
+max_acceleration = 3.0 #m/s
+start_velocity = 0.0 #m/s
+end_velocity = 0.5 #m/s 
+is_reversed = false
+target_yaw = 0.0 #degrees
+
+[start_pose]
+    x = 7.07
+    y = 1.07
+    angle = 180.0
+
+[end_pose]
+    x = 2.32
+    y = 1.4 #1.17->1.27
+    angle = 180.0 
+
+[[internal_points]]
+    x = 4.5 
+    y = 0.9 

src/main/deploy/paths/pieceOneDeliverBumpCubeTwo.toml

@@ -0,0 +1,20 @@
+max_velocity = 3.25 #m/s
+max_acceleration = 3.0 #m/s
+start_velocity = 0.0 #m/s
+end_velocity = 0.5 #m/s 
+is_reversed = false
+target_yaw = 0.0 #degrees
+
+[start_pose]
+    x = 6.9 #7.07
+    y = 2.14 #2.25
+    angle = 180.0
+
+[end_pose]
+    x = 2.22 #2.32
+    y = 1.27 #1.4
+    angle = 180.0
+
+[[internal_points]]
+    x = 5.5 
+    y = 0.90

src/main/deploy/paths/pieceOneFetchBumpCubeOneFallback.toml

@@ -0,0 +1,20 @@
+max_velocity = 2.5 #m/s
+max_acceleration = 2.75 #m/s
+start_velocity = 0.0 #m/s
+end_velocity = 0.0 #m/s 
+is_reversed = false
+target_yaw = 0.0 #degrees
+
+[start_pose]
+    x = 2.02
+    y = 0.69 #0.53
+    angle = 0.0
+
+[end_pose]
+    x = 7.07
+    y = 1.07 #0.92->1.02
+    angle = 0.0
+
+[[internal_points]]
+    x = 4.5
+    y = 0.752702

src/main/deploy/paths/pieceOneFetchBumpCubeTwo.toml

@@ -0,0 +1,24 @@
+max_velocity = 3.25 #m/s 2.75
+max_acceleration = 3.0 #m/s 2.75
+start_velocity = 0.0 #m/s
+end_velocity = 0.6 #m/s 
+is_reversed = false
+target_yaw = 0.0 #degrees
+
+[start_pose]
+    x = 2.02
+    y = 0.69 #0.53
+    angle = 0.0
+
+[end_pose]
+    x = 6.77 #7.00
+    y = 2.3 #2.34 red:2.29 blue:2.34
+    angle = 0.0
+
+[[internal_points]]
+    x = 5.8
+    y = 0.85
+
+[[internal_points]]
+    x = 6.2 #6.1
+    y = 2.2

src/main/deploy/paths/pieceOneFetchCubeThreeBumpPath.toml

@@ -0,0 +1,20 @@
+max_velocity = 2.5 #m/s
+max_acceleration = 2.75 #m/s
+start_velocity = 0.0 #m/s
+end_velocity = 0.0 #m/s 
+is_reversed = false
+target_yaw = 0.0 #degrees
+
+[start_pose]
+    x = 2.02
+    y = 0.69 #0.53
+    angle = 0.0
+
+[end_pose]
+    x = 6.90
+    y = 2.14 
+    angle = 0.0
+
+[[internal_points]]
+    x = 4.5
+    y = 0.752702

src/main/deploy/paths/pieceOneFetchCubeThreePath.toml

@@ -0,0 +1,24 @@
+max_velocity = 3.25 #m/s
+max_acceleration = 3.0 #m/s
+start_velocity = 0.0 #m/s
+end_velocity = 0.6 #m/s 
+is_reversed = false
+target_yaw = 0.0 #degrees
+
+[start_pose]
+    x = 2.02 
+    y = 4.895 
+    angle = 0.0
+
+[end_pose]
+    x = 6.3 # 7
+    y = 2.96 # cube 3
+    angle = 0.0
+
+[[internal_points]]
+    x = 4.8
+    y = 5.12 
+
+[[internal_points]]
+    x = 5.6
+    y = 3.8 #3.97

src/main/deploy/paths/pieceOneFetchPathBump.toml

@@ -1,7 +1,7 @@
 max_velocity = 2.5 #m/s
 max_acceleration = 2.75 #m/s
 start_velocity = 0.0 #m/s
-end_velocity = 0.0 #m/s 
+end_velocity = 0.3 #m/s 
 is_reversed = false
 target_yaw = 0.0 #degrees
 
@@ -11,8 +11,8 @@ target_yaw = 0.0 #degrees
     angle = 0.0
 
 [end_pose]
-    x = 7.07
-    y = 1.07 #0.92->1.02
+    x = 6.8 
+    y = 0.92 #0.92->1.02
     angle = 0.0
 
 [[internal_points]]

src/main/deploy/paths/pieceOnePlaceCubeThreeBumpPt1Path.toml

@@ -0,0 +1,20 @@
+max_velocity = 3.25 #m/s
+max_acceleration = 3.0 #m/s
+start_velocity = 0.0 #m/s
+end_velocity = 0.5 #m/s 
+is_reversed = false
+target_yaw = 0.0 #degrees
+
+[start_pose]
+    x = 6.90 # 7
+    y = 3.36 # cube 3
+    angle = 180.0
+
+[end_pose]
+    x = 2.22 # 7 
+    y = 4.3 # cube 3 place high
+    angle = 180.0
+
+[[internal_points]]
+    x = 5.5
+    y = 4.6